Bart/bullet3
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

Merge remote-tracking branch 'upstream/master'

Browse Source
This commit is contained in:
yunfeibai
2017-06-02 18:26:04 -07:00
parent 0a29c8d9af 518c7ec00e
commit bfcbb339cf
126 changed files with 111577 additions and 2758 deletions
Download Patch File Download Diff File Expand all files Collapse all files

30
examples/ExampleBrowser/CMakeLists.txt
View File

@@ -110,29 +110,6 @@ ELSE(WIN32)
ENDIF(APPLE)
ENDIF(WIN32)
IF (BULLET2_MULTITHREADED_OPEN_MP_DEMO)
ADD_DEFINITIONS("-DBT_USE_OPENMP=1")
IF (MSVC)
SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} /openmp")
ELSE (MSVC)
# GCC, Clang
SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -fopenmp")
ENDIF (MSVC)
ENDIF (BULLET2_MULTITHREADED_OPEN_MP_DEMO)
IF (BULLET2_MULTITHREADED_PPL_DEMO)
ADD_DEFINITIONS("-DBT_USE_PPL=1")
ENDIF (BULLET2_MULTITHREADED_PPL_DEMO)
IF (BULLET2_MULTITHREADED_TBB_DEMO)
SET (BULLET2_TBB_INCLUDE_DIR "not found" CACHE PATH "Directory for Intel TBB includes.")
SET (BULLET2_TBB_LIB_DIR "not found" CACHE PATH "Directory for Intel TBB libraries.")
find_library(TBB_LIBRARY tbb PATHS ${BULLET2_TBB_LIB_DIR})
find_library(TBBMALLOC_LIBRARY tbbmalloc PATHS ${BULLET2_TBB_LIB_DIR})
ADD_DEFINITIONS("-DBT_USE_TBB=1")
INCLUDE_DIRECTORIES( ${BULLET2_TBB_INCLUDE_DIR} )
LINK_LIBRARIES( ${TBB_LIBRARY} ${TBBMALLOC_LIBRARY} )
ENDIF (BULLET2_MULTITHREADED_TBB_DEMO)
SET(ExtendedTutorialsSources
../ExtendedTutorials/Chain.cpp
@@ -175,6 +152,7 @@ SET(BulletExampleBrowser_SRCS
../SharedMemory/PhysicsClient.cpp
../SharedMemory/PhysicsClientC_API.cpp
../SharedMemory/PhysicsServerExample.cpp
../SharedMemory/PhysicsServerExampleBullet2.cpp
../SharedMemory/PhysicsClientExample.cpp
../SharedMemory/PosixSharedMemory.cpp
../SharedMemory/Win32SharedMemory.cpp
@@ -207,7 +185,6 @@ SET(BulletExampleBrowser_SRCS
../MultiThreadedDemo/MultiThreadedDemo.h
../MultiThreadedDemo/CommonRigidBodyMTBase.cpp
../MultiThreadedDemo/CommonRigidBodyMTBase.h
../MultiThreadedDemo/ParallelFor.h
../Tutorial/Tutorial.cpp
../Tutorial/Tutorial.h
../Tutorial/Dof6ConstraintTutorial.cpp
@@ -244,6 +221,7 @@ SET(BulletExampleBrowser_SRCS
../MultiThreading/b3PosixThreadSupport.cpp
../MultiThreading/b3Win32ThreadSupport.cpp
../MultiThreading/b3ThreadSupportInterface.cpp
../MultiThreading/btTaskScheduler.cpp
../RenderingExamples/TinyRendererSetup.cpp
../RenderingExamples/TimeSeriesCanvas.cpp
../RenderingExamples/TimeSeriesCanvas.h
@@ -386,7 +364,7 @@ ADD_CUSTOM_COMMAND(
COMMAND ${CMAKE_COMMAND} ARGS -E copy_directory ${BULLET_PHYSICS_SOURCE_DIR}/data ${PROJECT_BINARY_DIR}/data
)
IF (BULLET2_MULTITHREADED_TBB_DEMO AND WIN32)
IF (BULLET2_USE_TBB_MULTITHREADING AND WIN32)
# add a post build command to copy some dlls to the executable directory
set(TBB_VC_VER "vc12")
set(TBB_VC_ARCH "ia32")
@@ -400,7 +378,7 @@ IF (BULLET2_MULTITHREADED_TBB_DEMO AND WIN32)
COMMAND ${CMAKE_COMMAND} -E copy_if_different
"${BULLET2_TBB_INCLUDE_DIR}/../bin/${TBB_VC_ARCH}/${TBB_VC_VER}/tbbmalloc.dll"
$<TARGET_FILE_DIR:App_ExampleBrowser>)
ENDIF (BULLET2_MULTITHREADED_TBB_DEMO AND WIN32)
ENDIF (BULLET2_USE_TBB_MULTITHREADING AND WIN32)
IF (INTERNAL_ADD_POSTFIX_EXECUTABLE_NAMES)

6
examples/ExampleBrowser/ExampleEntries.cpp
View File

@@ -39,7 +39,7 @@
#include "../FractureDemo/FractureDemo.h"
#include "../DynamicControlDemo/MotorDemo.h"
#include "../RollingFrictionDemo/RollingFrictionDemo.h"
#include "../SharedMemory/PhysicsServerExample.h"
#include "../SharedMemory/PhysicsServerExampleBullet2.h"
#include "../SharedMemory/PhysicsClientExample.h"
#include "../Constraints/TestHingeTorque.h"
#include "../RenderingExamples/TimeSeriesExample.h"
@@ -138,7 +138,7 @@ static ExampleEntry gDefaultExamples[]=
ExampleEntry(0,"Physics Client-Server"),
ExampleEntry(1,"Physics Server", "Create a physics server that communicates with a physics client over shared memory. You can connect to the server using pybullet, a PhysicsClient or a UDP/TCP Bridge.",
PhysicsServerCreateFunc),
PhysicsServerCreateFuncBullet2),
ExampleEntry(1, "Physics Client (Shared Mem)", "Create a physics client that can communicate with a physics server over shared memory.", PhysicsClientCreateFunc),
// ExampleEntry(1,"Physics Server (Logging)", "Create a physics server that communicates with a physics client over shared memory. It will log all commands to a file.",
@@ -295,7 +295,7 @@ static ExampleEntry gDefaultExamples[]=
ExampleEntry(1,"Fracture demo", "Create a basic custom implementation to model fracturing objects, based on a btCompoundShape. It explicitly propagates the collision impulses and breaks the rigid body into multiple rigid bodies. Press F to toggle fracture and glue mode.", FractureDemoCreateFunc),
ExampleEntry(1,"Planar 2D","Show the use of 2D collision shapes and rigid body simulation. The collision shape is wrapped into a btConvex2dShape. The rigid bodies are restricted in a plane using the 'setAngularFactor' and 'setLinearFactor' API call.",Planar2DCreateFunc),
#if BT_USE_OPENMP || BT_USE_TBB || BT_USE_PPL
#if BT_THREADSAFE
// only enable MultiThreaded demo if a task scheduler is available
ExampleEntry( 1, "Multithreaded Demo",
"Stacks of boxes that do not sleep. Good for testing performance with large numbers of bodies and contacts. Sliders can be used to change the number of stacks (restart needed after each change)."

10
examples/ExampleBrowser/InProcessExampleBrowser.cpp
View File

@@ -28,6 +28,8 @@ void* ExampleBrowserMemoryFunc();
#include "EmptyExample.h"
#include "../SharedMemory/PhysicsServerExample.h"
#include "../SharedMemory/PhysicsServerExampleBullet2.h"
#include "../SharedMemory/PhysicsClientExample.h"
#ifndef _WIN32
@@ -124,14 +126,14 @@ static ExampleEntryPhysicsServer gDefaultExamplesPhysicsServer[]=
ExampleEntryPhysicsServer(0,"Robotics Control"),
ExampleEntryPhysicsServer(1,"Physics Server", "Create a physics server that communicates with a physics client over shared memory",
PhysicsServerCreateFunc),
PhysicsServerCreateFuncBullet2),
ExampleEntryPhysicsServer(1,"Physics Server (RTC)", "Create a physics server that communicates with a physics client over shared memory. At each update, the Physics Server will continue calling 'stepSimulation' based on the real-time clock (RTC).",
PhysicsServerCreateFunc,PHYSICS_SERVER_USE_RTC_CLOCK),
PhysicsServerCreateFuncBullet2,PHYSICS_SERVER_USE_RTC_CLOCK),
ExampleEntryPhysicsServer(1,"Physics Server (Logging)", "Create a physics server that communicates with a physics client over shared memory. It will log all commands to a file.",
PhysicsServerCreateFunc,PHYSICS_SERVER_ENABLE_COMMAND_LOGGING),
PhysicsServerCreateFuncBullet2,PHYSICS_SERVER_ENABLE_COMMAND_LOGGING),
ExampleEntryPhysicsServer(1,"Physics Server (Replay Log)", "Create a physics server that replay a command log from disk.",
PhysicsServerCreateFunc,PHYSICS_SERVER_REPLAY_FROM_COMMAND_LOG),
PhysicsServerCreateFuncBullet2,PHYSICS_SERVER_REPLAY_FROM_COMMAND_LOG),
};

8
examples/ExampleBrowser/OpenGLGuiHelper.cpp
View File

@@ -325,7 +325,13 @@ void OpenGLGuiHelper::changeRGBAColor(int instanceUid, const double rgbaColor[4]
m_data->m_glApp->m_renderer->writeSingleInstanceColorToCPU(rgbaColor,instanceUid);
};
}
void OpenGLGuiHelper::changeSpecularColor(int instanceUid, const double specularColor[3])
{
if (instanceUid>=0)
{
m_data->m_glApp->m_renderer->writeSingleInstanceSpecularColorToCPU(specularColor,instanceUid);
};
}
int OpenGLGuiHelper::createCheckeredTexture(int red,int green, int blue)
{
int texWidth=1024;

3
examples/ExampleBrowser/OpenGLGuiHelper.h
View File

@@ -27,7 +27,8 @@ struct OpenGLGuiHelper : public GUIHelperInterface
virtual void removeAllGraphicsInstances();
virtual void removeGraphicsInstance(int graphicsUid);
virtual void changeRGBAColor(int instanceUid, const double rgbaColor[4]);
virtual void changeSpecularColor(int instanceUid, const double specularColor[3]);
virtual void createCollisionShapeGraphicsObject(btCollisionShape* collisionShape);
virtual void syncPhysicsToGraphics(const btDiscreteDynamicsWorld* rbWorld);

1
examples/ExampleBrowser/premake4.lua
View File

@@ -81,6 +81,7 @@ project "App_BulletExampleBrowser"
"../SharedMemory/PhysicsClientC_API.cpp",
"../SharedMemory/PhysicsClientC_API.h",
"../SharedMemory/PhysicsServerExample.cpp",
"../SharedMemory/PhysicsServerExampleBullet2.cpp",
"../SharedMemory/PhysicsClientExample.cpp",
"../SharedMemory/PhysicsServer.cpp",
"../SharedMemory/PhysicsServerSharedMemory.cpp",